python 实现积分分离的PID控制算法

最新推荐文章于 2024-09-30 14:16:32 发布

lph009

最新推荐文章于 2024-09-30 14:16:32 发布

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分类专栏： python PID 文章标签： python 开发语言

本文链接：https://blog.csdn.net/lph009/article/details/139443927

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import math


class _pid:
    def __init__(self,setSpeed,actualSpeed,err,err_last,Kp,Ki,Kd,voltage,intergral):
        self.setSpeed = setSpeed;
        self.actualSpeed = actualSpeed;
        self.err = err;
        self.err_last = err_last;
        self.Kp = Kp;
        self.Ki = Ki;
        self.Kd = Kd;
        self.voltage = voltage;
        self.intergral = intergral;



def PID_init():
    pass;

def PID_realize(speed):
    pID.setSpeed = speed;
    pID.err = pID.setSpeed-pID.actualSpeed;

    if(math.fabs(pID.err)>200):
        pass;
    else:
        pID.intergral = pID.intergral+pID.err;



    pID.voltage = pID.Kp * pID.err  + pID.Ki * pID.intergral + pID.Kd * (pID.err-pID.err_last);
    #incrementSpeed = pID.Kp *(pID.err-pID.err_next) + pID.Ki*pID.err + pID.Kd * (pID.err-2*pID.err_next +pID.err_last);
    pID.actualSpeed = pID.voltage;
    pID.err_last = pID.err;
    return pID.actualSpeed;




# Press the green button in the gutter to run the script.
if __name__ == '__main__':
    pID = _pid(0.0, 0.0, 0.0,0.0, 0.2, 0.04, 0.2, 0.0, 0.0);


    count = 0;
    while(count<450):
        speed = PID_realize(200.0);
        count = count+1;
        print(speed)

引入了积分分离的概念，基本思路：当被控量与设定值偏差较大时，取消积分作用；当被控量接近给定量时，引入积分控制，以消除静差，提高精度。